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Passivity-based sliding mode control for nonlinear systems

机译:基于无源的非线性系统滑模控制

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摘要

Passivity with sliding mode control for a class of nonlinear systems with and without unknown parameters is considered in this paper. In fact, a method for deriving a nonlinear system with external disturbances to a passive system is considered. Then a passive sliding mode control is designed corresponding to a given storage function. The passivity property guarantees the system stability while sliding mode control techniques assures the robustness of the proposed controller. When the system includes unknown parameters, an appropriate updated law is obtained so that the new transformed system is passive. The passivation property of linear systems with sliding mode is also analysed. The linear and nonlinear theories are applied to a simple pendulum model and the gravity-flow/pipeline system, respectively.
机译:本文考虑一类带有和不带有未知参数的非线性系统的滑模控制无源性。实际上,考虑了一种将具有外部干扰的非线性系统推导到被动系统的方法。然后,根据给定的存储功能设计被动滑模控制。无源特性可确保系统稳定性,而滑模控制技术可确保所提出控制器的鲁棒性。当系统包含未知参数时,将获得适当的更新定律,以便新的转换系统是被动的。还分析了具有滑模的线性系统的钝化特性。线性和非线性理论分别应用于简单的摆模型和重力流/管道系统。

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